Publications

Muscle Fatigue-Aware Controller for a Semi-Rigid Knee Exoskeleton

Y. Zhang, J. Jiang, A. Ajoudani, N. G. Tsagarakis

IEEE Transactions on Automation Science and Engineering, vol. 23, pp. 44–58, 2026.

• DOI

A Dual-Cam Parallel Elastic Actuator with Shared Gas-Spring Compensation for Humanoid Ankles

J. Jiang, Y. Zhang, N. G. Tsagarakis

IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2026.

Efficient Real-World Online Reinforcement Learning for Robot Manipulation via Centralized Training and Critic Decomposition

C. Li, Y. Zhang, H. Zhang, D. Torielli, D. Gasperini, A. Laurenzi, L. Muratore, et al.

arXiv preprint, 2026.

KYON: Semi-Modular Wheel-Legged Quadruped with Agile Bimanual Capability

L. Rossini, A. Laurenzi, F. Ruscelli, Y. Zhang, J. Jiang, G. Gravina, et al.

arXiv preprint, 2026.

On the Calibration, Fault Detection and Recovery of a Force Sensing Device

Y. Zhang, A. Ajoudani, N. G. Tsagarakis

IEEE Robotics and Automation Letters, vol. 9, no. 11, pp. 9271–9278, November 2024.

• DOI

A Novel Passive Parallel Elastic Actuation Principle for Load Compensation in Legged Robots

Y. Zhang, J. Jiang, N. G. Tsagarakis

IEEE Robotics and Automation Letters, vol. 9, no. 10, pp. 8881–8888, October 2024.

• DOI

Modelling and Compensation for Transmission Error of Timing Belt in Legged Robots

J. Jiang, Y. Zhang, N. G. Tsagarakis

IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1–6, 2023.

• DOI

The Development and Control of a Novel Bio-Inspired Semi-Rigid Device (Exo-Muscle) for the Knee

Y. Zhang

PhD thesis, Università degli Studi di Genova, 2023.

Exo-Muscle: A Semi-Rigid Assistive Device for the Knee

Y. Zhang, A. Ajoudani, N. G. Tsagarakis

IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 8514–8521, October 2021.

• DOI

Towards a Generic Grasp Planning Pipeline Using End-Effector Specific Primitive Grasping Actions

L. Bertoni, D. Torielli, Y. Zhang, N. G. Tsagarakis, L. Muratore

20th International Conference on Advanced Robotics (ICAR), pp. 722–729, 2021.

• DOI

A Knee Movement Assistive Device

Y. Zhang, N. Tsagarakis, A. Ajoudani

US Patent Application 18/569,641, 2024.

A Knee Movement Assistive Device

Y. Zhang, N. Tsagarakis, A. Ajoudani

US Patent Application 18/569,629, 2024.